Servomotor Modelling and Control for Medical Robots

	Servomotor Modelling and Control for Medical Robots
	Shi, Leqiang 1; Song JL(宋吉来)2,3; Xu, Chenglong 1; Li, Gang 2; Zhang, Yanchao 2; Li, Chong 2
	2019
会议日期	July 29 - August 2, 2019
会议地点	Suzhou, China
页码	814-819
英文摘要	In the driving technology of brushless DC motor (BLDCM), there are two methods: vector control (sine wave control) and 120 degree square wave control (rectangular wave control). In the analysis of some applications of medical instruments by BLDCM, the vector control method makes the running noise of BLDCM small, and has good low-speed torque stability and stability, but the power loss of the vector control mode is large. In addition, the software structure is complex and the adaptability to the motor is relatively poor. In this paper, combined with the application of BLDCM in medical walking assisted robot, firstly, in Matlab/Simulink, the simulation model of the system is constructed. Then, PID parameters are obtained by modeling and analyzing the system. Through the simulation data comparison vector control and 120 degree square wave control, the speed following characteristics under two control modes prove that the superiority of using 120 degree square wave control under the premise of meeting the actual operation requirements. This paper has important guiding significance for the development of medical robot drive technology.
产权排序	2
会议录	Proceedings of 9th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2379-7711
ISBN号	978-1-7281-0770-7
WOS记录号	WOS:000569550300140
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/27666]
专题	沈阳自动化研究所_其他
通讯作者	Song JL(宋吉来); Xu, Chenglong
作者单位	1.Faculty of Robot Science and Engineering, Northeastern University, Shenyang, Liaoning 110169, China 2.SIASUN Robot & Automation Co., Ltd, Shenyang, Liaoning 110168, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Shi, Leqiang,Song JL,Xu, Chenglong,et al. Servomotor Modelling and Control for Medical Robots[C]. 见:. Suzhou, China. July 29 - August 2, 2019.